DocumentCode
3573383
Title
Attitude Estimation using Low-Cost Sensors: a comparative analysis
Author
Sanz, Ricardo ; Rodenas, Luis ; Garcia, Pedro ; Albertos, Pedro
Author_Institution
Inst. de Autom. e Inf. Ind., Univ. Politec. de Valencia, Valencia, Spain
fYear
2014
Firstpage
4261
Lastpage
4266
Abstract
In this paper several algorithms to estimate the attitude of a UAS using low-cost sensors are reviewed and a new one including the angular velocity is proposed. The fusion of measurement coming from gyroscopes and accelerometers is based on the Kalman filter. A quadrotor experimental platform is used to compare the measurement systems. The estimation results are evaluated under different conditions and compared against the results obtained with an industrial measurement device.
Keywords
Kalman filters; accelerometers; attitude control; autonomous aerial vehicles; estimation theory; gyroscopes; helicopters; mobile robots; sensor fusion; Kalman filter; UAS attitude estimation; accelerometers; angular velocity; gyroscopes; low-cost sensors; quadrotor experimental platform; unmanned aerial systems; Accelerometers; Angular velocity; Estimation; Gyroscopes; Kalman filters; Sensors; Vectors; Kalman; attitude; estimation; low-cost; sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type
conf
DOI
10.1109/WCICA.2014.7053429
Filename
7053429
Link To Document